#include "globals.h"

//自动程序默认路线设置
AutoInfo auto_info(AutoInfo::Alliance::red, AutoInfo::Side::right, 1);

#if USE_ControllerEnhanced
ControllerEnhanced ctrl; //全局加强遥控器声明
#else
vex::controller ctrl; //全局遥控器定义
#endif

//视觉标签色
signature vis_GREEN(3, -6183, -5355, -5769, -7149, -6153, -6651, 7.5, 0);
signature vis_BLUE(2, -5419, -4325, -4872, 7061, 8905, 7983, 2.5, 0);
signature vis_RED(1, 7137, 12923, 10030, -1921, -655, -1288, 2.5, 0);
signature vis_YELLOW(4, -1, 1461, 730, -4717, -3585, -4152, 2.5, 0);

// ActionUnit实例定义
//底盘的名字中需要含有"chassis"或“chassis”子字符串:
//按照"前、后、中、其他..."的顺序添加马达
ActionUnit chassis_l("chassis_l", mtr_LF, mtr_LB, mtr_LB1, mtr_LF1);
ActionUnit chassis_r("chassis_r", mtr_RF, mtr_RB, mtr_RF1, mtr_RB1);
//其他非底盘： 多马达按照"左、右、中、其他..." 的顺序添加马达
ActionUnit suck("suck", mtr_suck);
ActionUnit chain("chain", mtr_chain);
ActionUnit arm("arm", mtr_arml, mtr_armr);



//底盘定义：减速比小于1：加速; 减速比大于1：减速
Hchassis chassis(chassis_l, chassis_r, 2.75, 1);

